Mechanically attached blanketmodule insertion tests were carried out for various misalignmentsbetween the module and the back plate. In the insertion tests, the modulewas successfully inserted up to a misalignment of ±10 mm with aclearance of ±(0.16-0.18) mm between key and groove. This wasachieved owing to the passive compliance due to the flexibility of themanipulator with the assistance of the chamfer configuration of thekey for smooth insertion. In addition, the `correlationcoefficient' based on the results obtained by the strain gaugeslocated at the end effector was found to be useful forestimating the forces of the complex end effector during moduleinsertion for the development of sensor basedcontrol.